EP0230605B1 - Moteur pas à pas - Google Patents

Moteur pas à pas Download PDF

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Publication number
EP0230605B1
EP0230605B1 EP86117467A EP86117467A EP0230605B1 EP 0230605 B1 EP0230605 B1 EP 0230605B1 EP 86117467 A EP86117467 A EP 86117467A EP 86117467 A EP86117467 A EP 86117467A EP 0230605 B1 EP0230605 B1 EP 0230605B1
Authority
EP
European Patent Office
Prior art keywords
rotor
stator
slots
stepping motor
teeth
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP86117467A
Other languages
German (de)
English (en)
Other versions
EP0230605A1 (fr
Inventor
Nagahiko Nagasaka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP273886A external-priority patent/JPS62163553A/ja
Priority claimed from JP61233028A external-priority patent/JPH0732580B2/ja
Application filed by Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Manufacturing Co Ltd
Publication of EP0230605A1 publication Critical patent/EP0230605A1/fr
Application granted granted Critical
Publication of EP0230605B1 publication Critical patent/EP0230605B1/fr
Expired legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
    • H02K37/10—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type
    • H02K37/20—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type with rotating flux distributors, the armatures and magnets both being stationary

Definitions

  • This invention relates to a thin and high-output stepping motor adapted to be used in a floppy disk control mechanism and an industrial robot for the purpose of determining positions at a high precision.
  • a stepping motor of the above described type having an axial gap has been proposed (refer to Japanese Patent Application No. 11559/1984 invented by Yasuyuki Kojima and filed on January 24, 1984).
  • the construction of the disclosed stepping motor is comparatively simple, the stator core thereof must be made into a solid form, thus increasing iron loss and reducing efficiency when the stepping motor is driven from a polyphase high-frequency power source.
  • the size of the magnet used in the stepping motor increases, and the production of a small size, thin, and high-power stepping motor is thereby made difficult.
  • a stepping motor having a radial gap has also been proposed (refer to, for instance, U.S. Patent No. 3,866,104 entitled “Five phase stepping motor", invented by Günter Heine).
  • U.S. Patent No. 3,866,104 entitled “Five phase stepping motor”, invented by Günter Heine discloses a large number of salient poles and slots around the surfaces of the rotor and the stator, and therefore particularly in the case of a stepping motor having a minute increment, the number of the production steps has been inevitably increased.
  • the rotor of this type stepping motor is made of permanent magnets, the required amount of the permanent magnets increases, thus increasing the production cost of the stepping motor.
  • a primary object of the invention is to provide a stepping motor wherein the above described difficulties of the conventional constructions can be substantially eliminated.
  • a more specific object of the invention is to provide a stepping motor wherein the iron loss and the labor cost for forming slots or teeth in the stator can be substantially reduced.
  • Another object of the invention is to provide a stepping motor wherein the inertia of the rotor is reduced, and the power-rate and the servo-performance of the stepping motor can be improved.
  • Still another object of the invention is to provide a stepping motor, the higher resolution of which is substantially improved.
  • a stepping motor comprising a stator and a rotor, the stator comprising a laminated iron core of a cylindrical shape with a plurality of slots formed around the outer peripheral portion thereof at a constant pitch, concentrately wound coils inserted in the slots of the iron core, and segmented permanent magnets formed in a planar shape sticked to an outer surface of the laminated iron core so as to provide a number of stator magnetic poles, while the rotor comprising a circular disk-shaped body, at least an outer peripheral portion thereof being made of a magnetic material, and a number of teeth formed around the outer peripheral portion at a constant pitch so as to provide a number of rotor magnetic poles which are placed radially in opposition to the stator magnetic poles with a predetermined air gap maintained therebetween.
  • the outer peripheral portion of the rotor is bent perpendicularly, and the number of teeth are formed along the bent portion such that the rotor magnetic poles thereby formed are held in opposition to the stator magnetic poles in a radial direction of the stator.
  • the outer peripheral portion of the stator core is bent perpendicularly so that the stator magnetic poles formed along the bent portion oppose the rotor magnetic poles in an axial direction of the stator.
  • a ten phase stepping motor comprises a stator 2 made of a cylindrical laminated core with 10 slots 23 formed along the outer circumference thereof at an equal pitch.
  • Five phase windings 24 wound in a concentrated manner are inserted in the 10 slots 23 (a five phase synchronous motor is operable as a 10 phase stepping motor) thus forming 10 salient poles, and on the surface of each salient pole, a plurality of permanent magnets 25 formed into thin segment shape are secured around the outer periphery of the stator core, and magnetized at a predetermined pole pitch.
  • the stepping motor further comprises a rotor 1 made of a ferromagnetic material and formed into a pan shape having a peripheral portion uprising cylindrically.
  • a plurality of teeth 12 and grooves 13 are cut-formed alternately along the circumference of the cylindrically bent portion at a constant pitch, the teeth 12 projecting in an axial direction of the rotor 1.
  • the output shaft 10 of the rotor 1 is rotatably supported by a housing 26 of the stepping motor through a bearing 27 so that the cylindrically bent portion of the rotor 1 located outside of the stator 2 opposes the permanent magnets of the stator 2 with a predetermined air gap maintained therebetween.
  • the teeth 12 of the rotor 1 and permanent magnets 25 of the stator 2 are held in a relation described as follows.
  • N t and N m Since the difference between N t and N m is 2, in a case where the center of one of the teeth 12 is brought into a position aligning with an N pole of the permanent magnet 25, the same positional relation is maintained at an angular position spaced apart from the first position by a 180° angle, while at other positions spaced apart by +90° and -90° from the first position, an N pole of the permanent magnets 25 aligns with the center of a groove 13, that is, an S pole aligns with the center of a tooth 12 as shown in FIG. 3.
  • magnetic fluxes ⁇ of four poles flow from N poles to S poles of the permanent magnets 25, and when the rotor 1 is rotated for one pitch of the teeth distribution, the magnetic fluxes ⁇ of four poles are rotated by an angle of 180°.
  • Fig 4 illustrates another embodiment of the invention wherein a printed circuit board 28 is provided on a side of the stator 2 away from the rotor 1, and a driving circuit, pulse distributing circuit and the like are provided on the printed circuit board 28.
  • FIGS. 5(a) and 5(b) Still another embodiment of the invention is illustrated in FIGS. 5(a) and 5(b) wherein like members as those in FIGS. 1(a) and 1(b) are designated by like reference numerals.
  • FIGS. 5(a) and 5(b) is also of five phases, the number of phases may be varied as desired so far as it remains to be a polyphase motor.
  • an output shaft 10 extending from a rotor 1 is rotatably supported by a housing 26 through a bearing 27 secured to an inner portion of the housing 26.
  • a portion of the shaft 10 away from an end coupled to a load is secured to the rotor 1 of a disk shape.
  • a number of teeth 12 are also cut-formed along the periphery of the rotor 1 at a constant pitch P T .
  • a stator 2 having a number of permanent magnets 25 is provided in opposition to the rotor 1.
  • the pole pairs of the permanent magnets 25 are distributed at a pitch P p equal to the tooth pitch P T .
  • the stator 2 is preferably made of a laminated core of ferromagnetic thin plates formed into a pan shape.
  • a plurality of slots are formed to extend radially from the circumfernece of the laminated core to a middle portion of the planar portion of the pan shape, and a number of concentratedly wound coils 24 are inserted into the bottom portions of the slots provided in the planar portion of the pan shape.
  • the core may otherwise be formed into a solid body of a suitable magnetic substance.
  • the stator 2 is secured to a housing 26.
  • P c P P [(N P ⁇ 1)/N P ]
  • FIG. 1(a) Two sets of windings 1 ⁇ ⁇ 5 ⁇ and 1' ⁇ ⁇ 5' ⁇ are wound as shown in FIG. 1(a) and connected as shown in Fig. 6 so as to make magnetic fluxes of four poles to flow, and hence altogether five phase windings are provided.
  • a five phase synchronous motor is obtained when the windings 24 are connected such that 1 ⁇ and 1' ⁇ , 2 ⁇ and 2' ⁇ and so forth are connected in series.
  • a 10 phase permanent magnet type stepping motor is thus realized when the five phase windings 24 are connected in star as shown in FIG. 7 and the motor is driven in a bipolar 180° energization manner or 2 ⁇ 3 phase alternate energizing manner.
  • numeral 41 and 41' designates, a positive terminal of the power source, marked ⁇ and a negative terminal marked ⁇ thereof respectively
  • numeral 42 and 42' designates segment conductors
  • numeral 43 designates a brush contacting the segment conductors 42, 42' and an arrow mark designates the sliding direction of the brushes 43.
  • the stepping motor may otherwise be modified as follows.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)

Claims (3)

  1. Un moteur pas-à-pas dans lequel un stator (2) est constitué d'un noyau ferromagnétique laminé de forme cylindrique comprenant plusieurs fentes (23) formées autour de la circonférence extérieure dudit noyau ferromagnétique selon un pas égal, des bobines (24) enroulées de façon concentrique sont disposées dans lesdites fentes (23) de façon à former plusieurs pôles magnétiques, des aimants permanents (25) combinés en une configuration plane mince sont collés sur la surface extérieurs de chacun desdits pôles magnétiques et un rotor (1) comporte plusieurs dents maintenues à l'extérieur desdits pôles magnétiques de stator en étant tournées vers celui-ci, un intervalle d'air étant maintenu entre eux, caractérisé en ce que lesdits aimants permanents disposés dans une configuration plane mince et fixés sur la surface extérieure de chaque pôle magnétique dudit stator (2) sont d'un type segmenté, aimanté en alternance selon un pas égal, ledit rotor (1) est formé à la presse en forme de cuvette, au moins une partie repliée de ce dernier étant en matière ferromagnétique, et lesdites dents (12) sont formées dans la partie repliée dudit rotor (1) selon un pas égal.
  2. Un moteur pas-à-pas dans lequel un stator (2) est constitué d'un noyau de fer laminé comprenant plusieurs fentes (23) formées autour de la circonférence extérieure dudit noyau de fer selon un pas égal, des bobines (24) enroulées de façon concentrique sont disposées dans lesdites fentes (23) de façon à former plusieurs pôles magnétiques, des aimants permanents (25) combinés en une configuration plane mince sont collés sur la surface extérieure de chacun desdits pôles magnétiques et un rotor (1) comporte plusieurs dents maintenues à l'extérieur desdits pôles magnétiques de stator en étant tournées vers celui-ci, un intervalle d'air étant maintenu entre eux, caractérisé en ce que ledit noyau de fer dudit stator (2) est formé à la presse en forme de cuvette, lesdites fentes (23) sont formées dans une partie dudit noyau de fer s'étendant depuis une partie plane (partie de fond) vers une partie repliée de la forme de cuvette, lesdites bobines enroulées concentriquement (24) sont placées dans une partie desdites fentes (23) formée dans la partie plate, des pôles saillants sont formés dans la partie repliée dans le sens axial dudit noyau de fer, lesdits aimants permanents (25) sont du type segmenté, aimantés en alternance selon un pas égal et collés sur la surface extérieure de chacun desdits pôles saillants, ledit rotor (1) est en forme de disque, et les dents multiples sont formées dans une partie périphérique dudit disque, qui est en matière ferromagnétique, d'une manière qui s'étend radialement selon un pas égal au pas des paires de pôles desdits aimants permanents (25).
  3. Un moteur pas-à-pas selon la revendication 1 ou 2, dans lequel ladite partie plane, sans dents, dudit rotor est en un alliage d'aluminium.
EP86117467A 1986-01-09 1986-12-16 Moteur pas à pas Expired EP0230605B1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2738/86 1986-01-09
JP273886A JPS62163553A (ja) 1986-01-09 1986-01-09 １０相永久磁石形ステツピングモ−タ
JP61233028A JPH0732580B2 (ja) 1986-09-30 1986-09-30 アキシヤルギヤツプ・パルスモ−タ
JP233028/86 1986-09-30

Publications (2)

Publication Number Publication Date
EP0230605A1 EP0230605A1 (fr) 1987-08-05
EP0230605B1 true EP0230605B1 (fr) 1991-07-31

Family

ID=26336201

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86117467A Expired EP0230605B1 (fr) 1986-01-09 1986-12-16 Moteur pas à pas

Country Status (3)

Country Link
US (1) US4745312A (fr)
EP (1) EP0230605B1 (fr)
DE (1) DE3680656D1 (fr)

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL8801628A (nl) * 1988-06-27 1990-01-16 Philips Nv Electrische meerpolige machine.
NL8801629A (nl) * 1988-06-27 1990-01-16 Philips Nv Electrische meerpolige machine.
JPH02292583A (ja) * 1989-02-17 1990-12-04 Yaskawa Electric Mfg Co Ltd 電動制御弁
JPH083191Y2 (ja) * 1989-02-17 1996-01-29 株式会社安川電機 キャンドモータ
WO1990010337A1 (fr) * 1989-03-01 1990-09-07 Reed Troy G Moteur magnetique
JPH0741524Y2 (ja) * 1989-10-11 1995-09-27 株式会社三共製作所 ロールフィード装置
US5444316A (en) * 1992-07-31 1995-08-22 Ishikawajima Harima Heavy Industries Co., Ltd. Hybrid stepping motor, driving method for the same and coil winding method for the same
US5394321A (en) * 1992-09-02 1995-02-28 Electric Power Research Institute, Inc. Quasi square-wave back-EMF permanent magnet AC machines with five or more phases
SE516499C2 (sv) * 1996-05-30 2002-01-22 Vilmos Toeroek Självstartande borstlös elektrisk motor
US5739612A (en) * 1996-09-03 1998-04-14 Davenport; Norban Earl Auxiliary power source
DE19643561C1 (de) * 1996-10-22 1998-01-15 Wolfgang Hill Elektrische Maschine mit einer Einzelpolwicklung
DE19643791A1 (de) * 1996-10-30 1998-04-23 Manfred Dr Ing Kuchenbecker Stellmotor
FR2765745B1 (fr) * 1997-07-03 1999-07-30 Parvex Sa Moteur lineaire
US6700272B1 (en) 1997-09-30 2004-03-02 Emf 97 Elektro-Maschinen-Vertrieb-Magnettechnik- Und Forschungs Gmbh Reluctance motor with gearless step-down without electronic control of rotating field
FR2774228B1 (fr) * 1998-01-26 2000-04-14 Valeo Equip Electr Moteur Machine electrique a double excitation, et notamment alternateur de vehicule automobile
JP2000060091A (ja) * 1998-08-06 2000-02-25 Ebara Corp 回転電機
EP0996216B1 (fr) * 1998-09-30 2004-02-18 Shin-Etsu Chemical Co., Ltd. Moteur à aimants permanents et rotor pour ledit moteur
US6605883B2 (en) 2001-04-20 2003-08-12 Japan Servo Co., Ltd. Multi-phase flat-type PM stepping motor and driving circuit thereof
JP3561248B2 (ja) * 2001-09-17 2004-09-02 日本サーボ株式会社 偏平多相永久磁石形ステッピングモータとその励磁回路
FR2847087B1 (fr) * 2002-08-14 2014-04-11 Valeo Equip Electr Moteur Machine electrique tournante a double excitation autorisant un defluxage modulable
KR100480788B1 (ko) * 2002-11-12 2005-04-07 삼성전자주식회사 박형 스핀들 모터 및 이를 구비하는 마이크로 드라이브 장치
TWI247472B (en) * 2004-08-27 2006-01-11 Delta Electronics Inc Stator structure
TWI249898B (en) * 2004-08-27 2006-02-21 Delta Electronics Inc Brushless DC motor and driver used therein
DE102005016257B4 (de) * 2005-04-08 2008-03-13 Siemens Ag Reluktanzmotor
JP4378327B2 (ja) * 2005-07-28 2009-12-02 キヤノン株式会社 駆動装置
DE102005045348A1 (de) * 2005-09-22 2007-04-05 Siemens Ag Zahnmodul für ein permanentmagneterregtes Primärteil einer elektrischen Maschine
DE102007025971B4 (de) * 2007-06-04 2018-06-07 Seg Automotive Germany Gmbh Elektrische Maschine mit hybriderregtem Rotor
JP4685946B2 (ja) * 2009-02-18 2011-05-18 三菱電機株式会社 永久磁石型回転電機の回転子およびその製造方法
KR101124077B1 (ko) * 2010-07-21 2012-03-20 삼성전기주식회사 스테이터 코어 및 이를 포함하는 모터 장치
DK2466722T3 (da) * 2010-12-20 2013-09-02 Siemens Ag Åg til en permamagnetmaskine

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR737972A (fr) * 1931-09-30 1932-12-19 Sev Marchal Perfectionnements apportés aux machines magnéto-électriques
JPS4933485B1 (fr) * 1968-01-31 1974-09-07
US3766549A (en) * 1970-11-18 1973-10-16 R Kulka Magnetic wheel numerical display device
US4080540A (en) * 1973-10-08 1978-03-21 Canon Kabushiki Kaisha Low-powdered stepping motor
US3984711A (en) * 1975-04-07 1976-10-05 Warner Electric Brake & Clutch Company Variable reluctance step motor with permanent magnets
US3999090A (en) * 1975-09-30 1976-12-21 Crs Stepper motor
EP0183792B1 (fr) * 1984-05-21 1991-09-18 Pacific Scientific Company Moteur pas a pas a assistance magnetique
JPS61161952A (ja) * 1985-01-09 1986-07-22 Yaskawa Electric Mfg Co Ltd ３相リニア誘導子形モ−タ

Also Published As

Publication number Publication date
EP0230605A1 (fr) 1987-08-05
US4745312A (en) 1988-05-17
DE3680656D1 (de) 1991-09-05

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